JOINT-SPACE IMPEDANCE CONTROL FOR TENDON-DRIVEN MANIPULATORS
摘要
A system and method for controlling tendon-driven manipulators that provide a closed-loop control of joint torques or joint impedances without inducing dynamic coupling between joints. The method includes calculating tendon reference positions or motor commands by projecting a torque error into tendon position space using a single linear operation. The method calculates this torque error using sensed tendon tensions and a reference torque and internal tension. The method can be used to control joint impedance by calculating the reference torque based on a joint position error. The method limits minimum and maximum tendon tensions by projecting the torque error into the tendon tension space and then projecting ii back into joint space.
申请公布号
US2010152898(A1)
申请公布日期
2010.06.17
申请号
US20080335153
申请日期
2008.12.15
申请人
GM GLOBAL TECHNOLOGY OPERATIONS, INC.;THE UNITED STATES OF AMERICA AS REPRESENTED BY THE;ADMINISTRATOR OF THE NATIONAL SPACE ADMINISTRATION
发明人
REILAND MATTHEW J.;PLATT ROBERT;WAMPLER, II CHARLES W.;ABDALLAH MUHAMMAD E.;HARGRAVE BRIAN